ubuntu16.04+realsense D435I +ros kinetic+ ORB-SLAM2

參考鏈接：

https://blog.csdn.net/qq_41839222/article/details/86503113

https://blog.csdn.net/qq_42393859/article/details/85257685

https://blog.csdn.net/Carminljm/article/details/86353775

https://blog.csdn.net/subiluo/article/details/88975979

ORBSLAM原始代碼及論文地址：http://webdiis.unizar.es/~raulmur/orbslam/

安裝環境

系统：ubuntu 16.04 内核 4.15.0-50-generic
ROS： Kinetic
传感器：intel realsense d435i
（ros-kinetic安裝參考官網http://wiki.ros.org/kinetic/Installation/Ubuntu ）

 

前期安裝了：VTK7.1.1，opencv3.4.0，Eigen3.3，PCL1.8，ROS-kinetic

安装Realsense d435i SDK

github：https://github.com/IntelRealSense/librealsense

建議直接參照官網教程：

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver

• Ubuntu 16 LTS:

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u

sudo apt-get update
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

 

博主才開始安装参考了文档：https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

     1、下载source

git clone https://github.com/IntelRealSense/librealsense
cd librealsense

     2、安装依赖项

sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev

3、Install Intel Realsense permission scripts located in librealsense source directory:

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control